I just finished the Chernow biography, and there certainly is controversy about whether Hamilton intended to deliberately miss Burr or not. Chernow does conclude that Burr probably hit first and the shot went wild because of that, but he also has a fair amount of (circumstantial) evidence that Hamilton also intended to deliberately miss him, enough to convince me, at least -- one of which was that he (accurately) predicted that if Burr shot him, it would ruin Burr, so why would he do a thing like that? And if so, then he shouldn't gun down Burr...

(Chernow definitely is a fan of Hamilton, so he is not an unbiased observer, although he certainly doesn't shy away from calling out Hamilton pretty strongly when he was being stupid and idiotic.)